#29981 (1999 TD10) was at first called a Centaur, but additional findings move it out of that class and into the same class as 1996 TL66 (see below)and other Scattered Kuiper-belt objects. The new elements can be seen at:
#29981 (1999 TD10)

Drawings of the Centaurean orbits, showing how each relates to the other bodies of our solar system, and including the distance from the Centaurean body to the Earth, and the Sun. Orbital drawings show the bodies for January 2006. (All images calculated by this N.A.S.A. Minor Planet Orbit Plotter):

The Centaurs are part of a whole slew of distant minor planets, which include cubewano's (like 15760) and plutino's (like 1993 RO). You can find the most updated list of all of these bodies at this MPC site

And here is an interesting article about the bodies past Neptune/Pluto: Trans-Neptunian's

Mike Brown, one of the discovers of Eris, Sedna, Orcus and Quaoar has a webpage well worth exploring: Mike Brown's page

Chad Trujillo, co-discoverer with Mike Brown and David L. Rabinowitz of many bodies out past Pluto, also has a webpage: Chad Trujillo's page